The decoder was trained on a total of three sessions consisting of 20 trials each. The NHP was made to passively observe a series of successful trials for the first couple of sessions following the training paradigm in [1]}. Thereafter, an intermediate model \(M_{int}\)  was trained based on these sessions. In the third session, \(M_{int}\)  was employed with 50% assistance [2]}, [3]} in the system and the final trained model \(M_f\)  was obtained including data from all three sessions. Only successful trials were used for training the model.
